Method and apparatus for sensing rate of angular displacement

ABSTRACT

A method and apparatus for utilizing the earth&#39;&#39;s static electric field as a reference for generating an information-bearing electrical signal. In a particular embodiment, the invention provides a differential static voltmeter having spaced voltage sensing probes and a differential static amplifier which determines the difference in voltage sensed by the probes. Since the probes measure the static voltage which occurs as a vertically-oriented gradient in the earth&#39;&#39;s atmosphere, the voltage difference signal produced by the differential static amplifier is a measure of the disposition of the probes relative to a line usually parallel to the earth&#39;&#39;s surface, the voltmeter thereby being particularly useful as a pitch and roll stabilization reference and control system for airborne vehicles. In other embodiments, the invention also provides apparatus for defining a horizontal reference plane in the atmosphere and apparatus for sensing the roll or pitch rate of an airborne vehicle.

United States Patent 1 1 Dec. 23, 1975 Hill [ METHOD AND APPARATUS FOR SENSING RATE OF ANGULAR DISPLACEMENT [75] inventor: Maynard L. Hill, Silver Spring, Md.

[73] Assignee: The Johns Hopkins University,

Baltimore, Md.

[22] Filed: Nov. 15, 1974 [21] Appl. No.: 524,335

Related US. Application Data [62] Division of Scr. No. 30l,363, Oct. 27, 1972, Pat. No.

[52] US. Cl. 324/160; 324/32 [51] Int. Cl. GOlP 3/42; GOlR 5/28 [58] Field of Search 324/72, 32, 160

[56] References Cited UNITED STATES PATENTS l,9l9,2l5 7/1933 Gunn 324/72 2,454,630 11/1948 Buckthal..... 3,276,725 l0/l966 Bennett 324/72 X OTHER PU BLlCATlONS Clark, John F., Airborne Measurements of Atmospheric Potential Gradient Journal of Geophysical Research, Vol. 62, No. 4, Dec. 1957, pp. 6l728.

ABSTRACT A method and apparatus for utilizing the earths static electric field as a reference for generating an information-bearing electrical signal. In a particular embodiment, the invention provides a differential static voltmeter having spaced voltage sensing probes and a differential static amplifier which determines the difference in voltage sensed by the probes. Since the probes measure the static voltage which occurs as a vertically-oriented gradient in the earths atmosphere, the voltage difference signal produced by the differential static amplifier is a.measure of the disposition of the probes relative to a line usually parallel to the earths surface, the voltmeter thereby being particularly useful as a pitch and roll stabilization reference and control system for airborne vehicles. In other embodiments, the invention also provides apparatus for defining a horizontal reference plane in the atmosphere and apparatus for sensing the roll or pitch rate of an airborne vehicle.

3 Claims, 8 Drawing Figures US. Patent Dec.23, 1975 Sheet10f7 3,928,801

DIFFERENTIAL VOLTAGE AMPLIFIER SERVOMECHANICAL APPARATUS US. Patent Dec. 23, 1975 Sheet20f7 3,928,801

US. Patent Dec. 23, 1975 Sheet 3 of7 U.S. Patent Dec 23, 1975 Sheet 4 0f 7 DlFFERENTIAL VOLTAGE AMPLIFIER INPUT SIGNAL TO ASSOCIATED ELECTRONICS OR SERVOMECHANICAL APPARATUS DIFFERENTIAL VOLTAGE AMPLIFIER INPUT SIGNAL TO ASSOCIATED ELECTRONICS OR SERVOMECHANICAL APPARATUS FIG. 5

U.S.. Patent Dec. 23, 1975 Sheet 5 of7 3,928,801

SWITCH ELECTRIC FIG. 6

US. Patent DIFFERENTIAL VOLTAGE AMPLIFIER SERVOMECHANICAL APPARATUS Dec. 23, 1975 VOLTMETER GAIN CONTROL ELECTRONICS Sheet 6 of 7 DIFFERENTIAL VOLTAGE AMPLIFIER SERVOMECHANICAL APPARATUS METHOD AND APPARATUS FOR SENSING RATE OF ANGULAR DISPLACEMENT STATEMENT OF GOVERNMENT INTEREST BACKGROUND AND SUMMARY OF THE INVENTION The existence of a static electric field in the earths atmosphere has long been recognized. More recently, this static electric field was determined to exhibit a vertical potential gradient, the change in potential per meter decreasing with increasing altitude. At any altitude, however, equipotential lines and planes are essentially horizontal, especially in a localized area. The ability to define a horizontal equipotential line or plane in the atmosphere would provide a reference for aircraft stabilization, gyroscopic drift correction, or clean air turbulence detection inter alia. Additionally, detec tion of tilted configuration planes or lines in the vicinity of various physical objects provides a reference for obstacle avoidance apparatus.

In particular, the present invention provides related methods and preferred means for utilizing the earths static field existing therein, to obtain a reference signal which can be employed to control both pitch and roll axes stabilization of airborne vehicles. In a general sense, the invention provides for continuously defining an equipotential line or plane within the earths vertical static potential gradient. Definition of this signal produced by the preferred apparatus of the invention, this signal being usable to accomplish a variety functions. The invention further relates to a general method for continuously defining an equipotential line or plane in the earths vertical static potential gradient. The method comprises immersion of at least two voltage sensing probes in the earths static potential gradient and measuring the difference in the static voltage sensed by the two probes. If the two probes sense the same voltage, i.e., the difference between the sensed voltage is 0, then the probes usually lie on a horizontal line of equal potential due to the vertical nature of the earths static potential gradient. Similarly, a horizontal equipotential plane may be defined by two pairs of voltage sensing probes or by three probes, one of which is referenced to the electrical center of the other two probes. Nonhorizontal equipotential planes and lines may be sensed in similar fashion in those areas where the vertical gradient is distorted due to physical objects or ionization sources.

The preferred apparatus of the present invention comprises voltage sensing probes (which probes may be comprised of radioactive material in order to increase the electrical contact thereof with the atmosphere) and a differential static amplifier. The amplifier receive the sensed potentials from the probes and measures the difference in the sensed potentials to produce a voltage difference signal which may be uti lized to.control a servomechanical or other apparatus. The voltage sensing probe/differential static amplifier combination is referred to hereinafter as a differential static voltmeter. The actual or effective combination of two differential static voltmeters can essentially define 2 an equipotential plane in the earths vertical static potential gradient. Since this equipotential plane is defined within a relatively small space, the plane is essentially horizontal and may be used as a reference plane for aircraft stabilization inter alia.

If the sensing probes described above are attached to the wingtips of an aircraft or essentially along the transverse axis thereof, then the voltage difference between the probes measured by the differential static amplifier is a function of the roll angle of the aircraft. Similarly, the voltage difference sensed by a pair of sensing probes disposed essentially along the longitudinal axis of an aircraft is a function of the pitch angle of the aircraft. The differential voltage output signals thus produced for the pitch and roll orientations of the aircraft can be used to drive a servomechanical system to maintain the aircraft in level flight relative to the surface of the earth. The sensing probes need not be exactly aligned with or parallel to the transverse or longitudinal axes of the aircraft in order to produce useful information. Similarly, the probes need not be positioned at exactly the same elevation relative either to the earths surface-or to the horiziontal axis of the aircraft.

The invention also relates to a method and apparatus for measuring the roll rate or pitch rate of an airborne vehicle. The apparatus used to sense rate comprises a pair of conductive wires disposed essentially along or parallel to the transverse axis or longitudinal axis of the aircraft. Rotation of these wires in the earths static electric field generates a current in the wires. The generated current is measured by a current meter, the intensity of the current being proportional to the roll rate or pitch rate of the vehicle.

Thus it is an object of the invention to provide a method and apparatus for continuously defining an equipotential line or plane in the earths static electric field.

It is another object of the invention to provide differential voltage sensing apparatus aboard an airborne vehicle, the differential voltage sensed by said apparatus being a function of the roll or pitch attitude angle of the vehicle.

It is a further object of the invention to provide a differential static current meter for determining the roll rate or pitch rate of an airborne vehicle by measuring the current induced in a pair of conductive wires rotated in the earths static potential gradient.

Further objects and advantages of the invention will become more readily apparent in light of the following detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. I is a schematic view of a differential static voltmeter mountable on an aircraft;

FIG. 2 is a detailed diagram of the circuitry of the voltmeter of FIG. 1;

FIG. 3 is a schematic view of an aircraft illustrating roll orientations of the aircraft;

FIG. 4 is a schematic view of an aircraft illustrating pitch orientations of the aircraft;

FIG. 5 is an idealized schematic view of an equipotential plane detector comprised of two different static voltmeters;

FIG. 6 is a schematic view of an aircraft fitted with an equipotential plane detector comprised of three voltage sensing probes, the detector being shown in part as a detailed circuit diagram;

3 FIG. 7 is an idealized schematic view of an equipotential plane detector having additional voltage sensing probes for automatic gain control; and,

FIG. 8 is a detailed diagram of the circuitry employed to determine the roll rate of an airborne vehicle.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The several embodiments of the invention use the earths static potential gradient as a reference for generating an information-bearing electrical signal. The generated signal may then be used to perform a variety of functions, a singularly valuable such function being the stabilization of an airborne vehicle. The invention essentially provides a method and means for measuring,

the difference in the earths static potential field be tween two closely spaced points therein. Ina simple form of the invention, a differential static voltmeter is utilized to generate a signal proportional to the misalignment of the axis joining two spaced sensors of the voltmeter with a line taken parallel to the surface ofthe earth. An effective combination of two differential static voltmeters can be used to define an equipotential plane within the earths static potential gradient. The equipotentialplane thus defined is usually essentially parallel to the earths surface, thereby creating an artificial horizontal plane which can then be utilized for stabilization of an airborne vehicle in both pitch and roll modes. The invention thus contemplates utilization of the earths static potential gradient to provide roll attitude and roll rate and/or pitch attitude and pitch rate information in the form of an easily applied DC signal.

Referring to FIGS. 1 and 2 a differential static voltmeter is seen at 10 to comprise two sensing probes l2 and a differential voltage amplifier 14, the probes 12 being mounted for illustration on the wingtips of an aircraft [6. The output signal of the voltmeter 10, Le, essentially the output signal of the amplifier 14, is directed to well-known scrvomechanical apparatus [8 to accomplish a desired function, such as to ailerons to provide roll stabilization. The sensing probes [2 may comprise metal pads 22 coated with a layer 24 of a radioactive metal or metal salt to increase the conductivity of the air in the vicinity of the probes by alpha particle emission (and resulting ionization of the air), thereby to improve the electrical contact of the probes with the air. The probes 12 may simply comprise conductive needle-like points or thin pointed metal wires, chemical sprays, hot gases, etc. The probes l2 respond rapidly to changes in the static voltage encountered in the atmosphere. The voltage sensed by the probes 12 produces a low impedance input to the differential voltage amplifier l4.

As can be particularly seen in FIG. 2, the probes 12 are electrically joined to the amplifier 14 by either co-axial cables or other electrical connections 26 to maintain a high insulation resistance in the probe wiring to avoid leakage paths. The differential voltage amplifier 14 comprises two operational amplifiers 28a and 28h, the amplifiers 281! and 28/; receiving the inputs from one of each ofthe probes 12. inserted in the circuit between each of the probe/amplifier combination are resistors 30a and 30/) joined in series to potentiometers 32. The resistors 30a and 30h cause a high impedance input into the operational amplifier 28a and 28b. The output from amplifier 28a is fed through resis tor 34 into the negative terminal of the amplifier 28b,

thepositive terminal of the amplifier 28/) being received directly from the resistor 30b. The output signal resulting from the amplifier 2812, thus the signal generated within the differential voltage amplifier 14, is proportional to the voltage differential sensed by the two probes 12. If the probes 12 are level with respect to an ambient equipotential line or plane, a zero differential voltage results. Elevation ofone of the probes 12 above the other probe produces a differential voltage signal proportional to the difference in elevation between the probes, the voltage difference resulting from the vertical static voltage gradient existing in the earths atmosphere. The diffcrential static voltmeter 10 can then be seen to be capableof performing a variety of functions, one of which being the stabilization in pitch or roll of an airborne vehicle. By disconnecting the probes 12 from the amplifier 14, the resistor 30a may be adjusted to zero volts at 36 and the resistor 30h adjusted to a desired output which represents a neutral horizontal gradient. Placement of one each of the probes 12 on the opposite wingtips of the aircraft ]6 results in a static voltmeter output which is proportional to the bank angle of the aircraft 16. Similarly, a static voltmeter 10 having its probes 12 mounted effectively along the longitudinal axis of the aircraft 16 produces an output proportional to the dive or climb angle of said aircraft. The output signals from the static voltmeters 10 so mounted on the aircraft 16 can then be filtered and fed to the servomechanical apparatus 18. Pitch or roll stabilization may thus be accomplished. A combination of two static voltmeters 10 may be used to stabilize an airborne vehicle in both pitch and roll.

FIG. 3 shows three aircraft a, 50b, and 50- fitted with static voltmeters and operating in the static voltage field E, the probes 12 being visible on the wingtips of the aircraft. The field E is seen to exhibit a vertical gradient, the static potential per meter in the atmosphere decreasing with altitude. Thus, the lines 52 forming the static voltage field E are shown as parallel lines which are closer together near the earths surface 54. The lines 52 are distorted and tilted about mountains 57 or other such obstacles. The aircraft 50a is seen to be operating in level flight the wingtips of the aircraft being aligned along a line 56 which is parallel to the earths surface 54. The probes [2, which need not be fitted on the wingtips of the aircraft 5011 but could be spaced closely together within a small unit mounted virtually anywhere on the aircraft, are aligned essentially along the horizontal line 56. However, greater mutual spacing of the probes 12 generally yields greater sensitivity to attitude misorientation of the aircraft. The probes l2 sense the same static voltage while in the roll attitude illustrated by the aircraft 50a, the voltmeter joined to the probes l2 producing a zero differential voltage output signal which indicates that the aircraft 500 has a zero roll angle. The aircraft 50b is shown to have a left bank roll orientation, i.e., the left wingtip of the aircraft is lower relative to the earths surface than the right wingtip. in such an orientation, a differential voltage output signal is produced which is proportional to the difference in elevation of the probes 12 on the wingtips. This difference in probe elevation is geometrically proportional to the roll angle 6 defined by the intersection of the horizontal line 56 and the straight line joining the probes 12. Similarly, the aircraft 50(- has a right bank" roll orientation, the difference in elevation between the probes 12 on the wingtips of the aircraft producing a voltmeter output which is proportional to the angular roll orientation of the aircraft. By defining the left bank orientation of the aircraft 50b as a positive roll angle and the right bank orientation of the aircraft 500 as a negative roll angle, the output of the voltmeter can provide a pilot with an indication not only of the degree of the roll angle 6 but also of the direction. As has previously been described, the output of the differential static voltmeter may be fed into well-known closed-loop servomechanical apparatus for automatically maintaining the aircraft 50); or 500 in a horizontal orientation.

FIG. 4 shows the aircraft 50a, 50b, and 500 in the earths static voltage field E, a side elevational view of the aircraft being shown such that the pitch angle 1 of the aircraft relative to a horizontal line 60 may be observed. The longitudinal axis of the aircraft 50a is aligned parallel with the horizontal lines 60, thereby being also parallel to the earths surface 54, the probes 12 being disposed essentially along the longitudinal axis of the aircraft 50a. The probes 12 thus sense the same static voltage and the voltmeter to which the probes 12 are connected produces a zero differential voltage output signal which indicates that the aircraft has a zero pitch angle. The aircraft 50b is seen to be diving, or pitched downwardly, the probes 12 on the fore and aft of the aircraft 5012 thereby having a different elevation. The probe 12 on the front of the aircraft 50b senses a more negative static voltage than does the probes 12 toward the rear of the aircraft. This sensed difference in voltage is reflected in the output signal of the differential static voltmeter to which the probes 12 are electrically connected, which output signalis proportional to the pitch angle formed by the intersection of the horizontal line 60 and the longitudinal axis of the aircraft. Similarly, the aircraft 500 is seen to be climbing, or pitched upwardly, the difference in elevation between the probes 12 on the aircraft producing a voltmeter output which is proportional to the angular pitch orientation of the aircraft. The voltmeter output may then be used to inform servomechanical apparatus of the magnitude and direction of the pitch angle (1) of the aircraft so that the aircraft can be automatically stabilized.

Use of a pair of differential static voltmeters 10 such as is schematically shown in FIG. 5 allows definition of an equipotential plane within the static potential gradient in the atmosphere. Each pair of probes 12 in FIG. 5 may be considered to lie along a line or axis joining said probes. If these axes are turned at angles to each other such as the 90 angles shown in FIG. 5, then each voltmeter 10 will define an equipotential line when the output thereof is zero. When the output of both voltmeters 10 is zero, then the plane in which the four probes l2 lie would have a substantially equal static potential value at every point in the plane. Due to the relative localized measurement made by the voltmeters 10, the equipotential plane is usually parallel to the surface of the earth, thereby defining an artificial horizontal plane which may be used as a reference plane for a number of functions including aircraft stabilization, gyroscopic drift adjustment, turbulence detection and unmanned aircraft guidance. Each pair of probes 12 in each voltmeter 10 is electrically connected to a differential voltage amplifier l4 such as has previously been described. The output of each of the amplifiers 14 may be used to accomplish a desired function. For example, the-output signals of the voltmeters 10 of FIG. Scould be used to maintain an aircraft in level flight, one of said voltmeters 10 providing a signal to control servomechanical apparatus maintaining a zero pitch angle and the second voltmeter l0 maintaining a zero roll angle. Thus, the aircraft would be maintained in level flight within the equipotential plane defined by the pair of voltmeters 10. When the static potential gradient is tilted due to obstacles such as mountains, (as can be seen in FIG. 3), detection of the tilted equipotential plane is useful in preventing an airborne vehicle from colliding with the obstacle. For example, an aircraft stabilized in horizontal flight with respect to an essentially level portion of the earths surface is capable of avoiding a mountain or hill which tilts the potential gradient. By sensing the tilted equipotential plane caused by the obstacle and stabilizing the aircraft with respect to the tilted equipotential plane, the aircraft automatically assumes the proper heading to fly over or around the obstable.

Simultaneous stabilization in pitch and roll may also be accomplished using the system shown in FIG. 6. Three probes 12 are located on an aircraft 65, the aircraft incidentally being of a Delta-wing configuration. Two of the probes 12 are disposed along a line toward the rear of the aircraft 65, the third probe 12 being located on the forward port-ion of the aircraft. The forward probe 12 need not lie in the same horizontal plane as do the other two probes 12 since, as is the case with the several voltmeter stabilization units described above, the differential voltage amplifiers 14 may be adjusted to a zero static voltage reading such that all of the probes 12 need not lie in the equipotential plane being defined. The two rearwardly disposed probes 12 are used for roll control and the forwardly disposed probe 12 is referenced to the electrical center of the rear probes 12 to provide pitch control. Essentially, the rear probes l2 combine with a differential voltage amplifier as has previously been described to control the roll stability of the aircraft 65 by feeding an output signal to a roll servomechanical apparatus 72. Since the sum of the voltages sensed by the rear probes 12 with respect to the center point is essentially zero as a function of pitch, the forward probe 12 is referenced to this voltage in order to determine the pitch angle of the aircraft. In essence, the forward probe 12 is referenced to the electrical center of the rear probes 12, the rear probes I2.functioning as the equivalent of an extra probe 12 which changes in total potential with changes in elevation independently of whether the aircraft is level or in a bank orientation. In this fashion, an output signal proportional to the pitch angle of the aircraft 65 is obtained and is fed to a pitch servomechanical apparatus 74 for correction in order to maintain a desired pitch orientation.

Use of the voltmeter pair as described relative to FIG. 5 or the three-probe system shown in FIG. 6 as an aircraft stabilization system requires provision for signal gain adjustment at altitudes greater than a few thousand feet. For example, the amplitude of the signals obtained from a voltmeter 10 at 10,000 feet above the earths surface is decreased five-fold relative to signal amplitude at an altitude of 3000 feet. This decrease in signal strength occurs due to the change in the static potential gradient with respect to altitude, the static potential gradient at sea level typically being about volts/meter and as low as 10 to 20 volts/meter at an altitude of 20,000 feet. Thus, signal adjustment in the form of gain control is necessary to compensate for the decreased magnitude of the static voltage gradient at relatively high altitudes. While gain control may be 7 provided in a number of well-known ways, an extra pair of probes 120, such as shown in FIG. 7, may be used to sense the actual magnitude of the static potential gradient at the altitude at which an aircraft is operating, this information then being used to adjust the gain of any feedback signals being derived from the equipotential plane sensor comprised of the two voltmeters 10. The probes 120 are mounted on a vertical axis with respect to the horizontal axes joining the probes 12 of the voltmeters 10. The probes 120 are spaced apart vertically at a suitable distance so as to obtain an insignificant signal to noise ratio. the spacing being on the order of a foot or more. The probes 12c continuously sense the magnitude of the local potential gradient which is then measured by a voltmeter 80, the output signal of said voltmeter being used to actuate well-known gain control electronics 82. In addition to compensating for signal strength loss at altitude, the probes 12c lying along a vertical axis would also respond to small local variations in the static potential gradient which often occur due to atmospheric inversions or excess atmospheric ionization. Thus, addition of the probes 120 to the equipotential plane sensor comprised of the voltmeters 10 would improve the signal-to-noise ratio of the equipotential plane sensor. In addition, the probes 12c combined with the voltmeter 80 can be used to measure local variations in the static potential gradient which can be indicative of radioactive material on or below the surface of the earth, pollution sources, etc.

The device shown in FIG. 7 provides an instantaneous, accurate mechanism for automatic gain control. In most applications, an average value of the static potential gradient is adequate for providing gain control. Thus, it would not usually be necessary to mount the probes 12c on a gimballed-feedback-servomechanical platform to maintain the probes 120 in a vertical orientation. Further, only one sensing probe 120 located above or below the equipotential plane defined by the voltmeters 10 may be used for gain control. Essentially, the output of this single sensing probe 12c could be compared to the zero output of the equipotential plane defined by the voltmeters 10.

The invention may also be extended to the fabrica tion of a roll rate or pitch rate sensing device such as is shown at 100 in FIG. 8. The device 100 senses roll or pitch rate based on the physical principle that a displacement current is induced in an electrically conductive rod or wire on rotation of same in an electric field. The device 100 has two conductive rods 102 which may be disposed on the wingtips of an aircraft. Although the rods 102 are exposed to a continuously changing voltage field, a static electric field cannot exist in the rods. Thus, as displacement (rotation) of the rods occur. electric charges flow from one rod 102 to the other rod. A current meter I04 inserted in the circuit between the rods 102 measures the current flowing between the rods 102, the direction of the current indicating the direction of the roll or pitch of an aircraft and the magnitude of the current indicating the rate of the roll or pitch.

The current meter I04 produces an output Eo which is a voltage signal proportional to the current flowing between the rods 102. Operational amplifiers 106 convert the current flow in the circuit to a voltage signal while providing an effective short circuit between the rods 102. Operational amplifier I08 essentially functions as a differential voltmeter to measure the difference in potential between the amplifiers 106. Capacitors 110 are used to eliminate cycle interference commonly encountered in the atmosphere rear power sources, etc. The output E0 of the current meter 104 may be applied to conventional servomechanical apparatus (not shown) or read out devices to control the roll or pitch rate of an aircraft or to inform the pilot. Mounting of the rods 102 on the wingtips or about the transverse axis of the aircraft yields roll rate information while mounting said rods on or about the longitudinal axis of the aircraft yields pitch rate information.

Usual practice in autopilot stabilization involves the combination of attitude and rate information. In the present invention, either the voltmeter 10 of FIG. 1 inter alia and the rate sensing device of FIG. 8 can be modified to produce an output signal which is a combination of both attitude and roll rate information. This combination of information may be accomplished by adjusting the input impedance of the particular circuit, the length of the electrical conductors connected to the sensing probes 12, or the intensity or radiation from the sensing probes if the probes are radioactive. In practice, the voltmeter 10 of FIG. 2 produces some rate information even as the device 100 of FIG. 8 produces some attitude information.

The invention disclosed herein may be practiced with modification to the structures and methods outlined above without departing from the scope of the invention as recited in the appended claims. For example, the probes 12 may be disposed at an angle to the roll axis or pitch axis of an airborne vehicle being stabilized according to the invention. The angle at which a line joining the probes 12 may make with the roll axis or pitch axis can approach 45. Well-known calibration" techniques can be employed to adjust the voltmeter 10 to compensate for this angular misalignment.

I claim:

1. A method for sensing the rate of angular displacement of an object about an axis taken through the object, the object being disposed within the static electric field existing in the earths atmosphere, the method comprising the steps of:

disposing at least two electrically conductive members on the object about the aforesaid axis, the members being electrically connected; and, sensing the current flowing between the conductive members on displacement of the object, converting said sensed current from said conductive members into a voltage signal proportional to the rate of angular displacement of the object about the aforesaid axis.

2. A method for sensing the rate of angular displacement about at least one axis of an airborne vehicle operating in the static electric field existing in the earths atmosphere, comprising the steps of:

disposing at least two electrically conductive members on the vehicle about an axis thereof, the members being electrically connected; and,

sensing the current flowing between the conductive members on displacement of the vehicle about the axis,

converting said sensed current from said conductive members into a voltage signal proportional to the rate of angular displacement of the vehicle about the aforesaid axis.

3. Apparatus for sensing the rate of angular displacement about an axis of an airborne vehicle operating in the static potential field existing in the earths atmosphere, comprising at least two electrical]? conductive members dismeans electrically connec zgd to said current sensing posed on the vehicle about said axis; and, means for producing a voltage signal proportional current sensing means electrically connected to the to the rate of angular displacement of the vehicle members for measuring the current flowing in about the aforesaid axis. the members on rotation of the vehicle, 

1. A method for sensing the rate of angular displacement of an object about an axis taken through the object, the object being disposed within the static electric field existing in the earth''s atmosphere, the method comprising the steps of: disposing at least two electrically conductive members on the object about the aforesaid axis, the members being electrically connected; and, sensing the current flowing between the conductive members on displacement of the object, converting said sensed current from said conductive members into a voltage signal proportional to the rate of angular displacement of the object about the aforesaid axis.
 2. A method for sensing the rate of angular displacement about at least one axis of an airborne vehicle operating in the static electric field existing in the earth''s atmosphere, comprising the steps of: disposing at least two electrically conductive members on the vehicle about an axis thereof, the members being electrically connected; and, sensing the current flowing between the conductive members on displacement of the vehicle about the axis, converting said sensed current from said conductive members into a voltage signal proportional to the rate of angular displacement of the vehicle about the aforesaid axis.
 3. Apparatus for sensing the rate of angular displacement about an axis of an airborne vehicle operating in the static potential field existing in the earth''s atmosphere, comprising at least two electrically conductive members disposed on the vehicle about said axis; and, current sensing means electrically connected to the members for measuring the current flowing in the members on rotation of the vehicle, means electrically connected to said current sensing means for producing a voltage signal proportional to the rate of angular displacement of the vehicle about the aforesaid axis. 